{"type":"ScholarlyArticle","title":"Incrementally Grounding Expressions for Spatial Relations between Objects","authors":[{"name":"Tiago Mota","slug":"tiago-mota","given":"Tiago","family":"Mota","affiliation":"The University of Auckland , NZ"},{"name":"Mohan Sridharan","slug":"mohan-sridharan","given":"Mohan","family":"Sridharan","affiliation":"University of Birmingham , UK"}],"abstract":"Recognizing, reasoning about, and providing understandable descriptions of spatial relations between objects is an important task for robots interacting with humans. This paper describes an architecture for incrementally learning and revising the grounding of spatial relations between objects.  Answer Set Prolog, a declarative language, is used to represent and reason with incomplete knowledge that includes prepositional spatial relations between scene objects. A generic grounding of prepositions for spatial relations, human input (when available), and non-monotonic logical inference, are used to infer spatial relations between 3D point clouds in given scenes, incrementally acquiring a specialized metric grounding of the prepositions and the relative confidence associated with each grounding. The architecture is evaluated on a benchmark dataset of tabletop images and on complex simulated scenes of furniture.","doi":"10.24963/ijcai.2018/266","url":"https://ijcai.org/proceedings/2018/266","pdf":"https://ijcai.org/proceedings/2018/0266.pdf","markdown":"https://ijcai.org/proceedings/2018/266.md","bibtex":"https://ijcai.org/proceedings/2018/bibtex/266","volume":{"slug":"2018","title":"Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence","short_title":"IJCAI 2018","url":"https://ijcai.org/proceedings/2018/","year":2018,"location":"Stockholm","dates":"13-19 July 2018","editors":"Jérôme Lang","isbn":"978-0-9992411-2-7","publisher":"International Joint Conferences on Artificial Intelligence Organization","doi_prefix":"10.24963/ijcai.2018"},"section":"Knowledge Representation and Reasoning","track":"Main track","number":266,"pages":{"first":1928,"last":1934},"keywords":["Robotics: Learning in Robotics","Robotics: Human Robot Interaction","Knowledge Representation and Reasoning: Geometric, Spatial, and Temporal Reasoning"],"videos":[],"references":[{"position":1,"raw":"[Balai et al., 2013] Evgenii Balai, Michael Gelfond, and Yuanlin Zhang. Towards Answer Set Programming with Sorts. In International Conference on Logic Programming and Nonmonotonic Reasoning, September 2013.","title":"Towards Answer Set Programming with Sorts","authors":"Evgenii Balai, Michael Gelfond, Yuanlin Zhang","year":"2013","venue":"International Conference on Logic Programming and Nonmonotonic Reasoning","doi":null,"url":null,"internal_url":null},{"position":2,"raw":"[Belz et al., 2015] Anja Belz, Adrian Muscat, Maxime Aber- ton, and Sami Benjelloun. Describing Spatial Relation- ships between Objects in Images in English and French. In Workshop on Vision and Language, pages 104-113, 2015.","title":"Describing Spatial Relationships between Objects in Images in English and French","authors":"Anja Belz, Adrian Muscat, Maxime Aberton, Sami Benjelloun","year":"2015","venue":"Workshop on Vision and Language","doi":null,"url":null,"internal_url":null},{"position":3,"raw":"[Calli et al., 2015] Berk Calli, Aaron Wallsman, Arjun Singfh, and Siddhartha S. Srinivasa. Benchmarking in Manipulation Research. IEEE Robotics and Automation Magazine, (September):36-52, 2015.","title":"Benchmarking in Manipulation Research","authors":"Berk Calli, Aaron Wallsman, Arjun Singfh, Siddhartha S Srinivasa","year":"2015","venue":"IEEE Robotics and Automation Magazine","doi":null,"url":null,"internal_url":null},{"position":4,"raw":"[Elliott and Vries, 2015] Desmond Elliott and Arjen P De Vries. Describing Images using Inferred Visual Depen- dency Representations. In Annual Meeting of the Associa- tion for Computational Linguistics, pages 42-52, 2015.","title":"Describing Images using Inferred Visual Dependency Representations","authors":"Vries Elliott, Desmond Elliott, Arjen P De Vries","year":"2015","venue":"Annual Meeting of the Association for Computational Linguistics","doi":null,"url":null,"internal_url":null},{"position":5,"raw":"[Fichtl et al., 2015] Severin Fichtl, Dirk Kraft, Norbert Krüger, and Frank Guerin. Using Relational Histogram Features and Action Labelled Data to Learn Preconditions for Means-End Actions. In IEEE/RSJ International Con- ference on Intelligent Robots and Systems (Workshop on Sensorimotor Contingencies for Robotics), 2015.","title":"Using Relational Histogram Features and Action Labelled Data to Learn Preconditions for Means-End Actions","authors":"Severin Fichtl, Dirk Kraft, Norbert Krüger, Frank Guerin","year":"2015","venue":"IEEE/RSJ International Conference on Intelligent Robots and Systems (Workshop on Sensorimotor Contingencies for Robotics","doi":null,"url":null,"internal_url":null},{"position":6,"raw":"[Gelfond and Kahl, 2014] Michael Gelfond and Yulia Kahl. Knowledge Representation, Reasoning and the Design of Intelligent Agents. Cambridge University Press, 2014.","title":"Knowledge Representation, Reasoning and the Design of Intelligent Agents","authors":"Kahl Gelfond, Michael Gelfond, Yulia Kahl","year":"2014","venue":null,"doi":null,"url":null,"internal_url":null},{"position":7,"raw":"[Guadarrama et al., 2013] Sergio Guadarrama, Lorenzo Ri- ano, Dave Golland, Daniel Gouhring, Yangqing Jia, Dan Klein, Pieter Abbeel, and Trevor Darrell. Grounding Spatial Relations for Human-robot Interaction. In Inter- national Conference on Intelligent Robots and Systems, pages 1640-1647, 2013.","title":"Grounding Spatial Relations for Human-robot Interaction","authors":"Sergio Guadarrama, Lorenzo Riano, Dave Golland, Daniel Gouhring, Yangqing Jia, Dan Klein, Pieter Abbeel, Trevor Darrell","year":"2013","venue":"International Conference on Intelligent Robots and Systems","doi":null,"url":null,"internal_url":null},{"position":8,"raw":"[Mees et al., 2017] Oier Mees, Nichola Abdo, Mladen Mazuran, and Wolfram Burgard. Metric Learning for Gen- eralizing Spatial Relations to New Objects. In IEEE/RSJ International Conference on Intelligent Robots and Sys- tems, pages 3175-3182, Vancouver, Canada, September 24-28, 2017.","title":"Metric Learning for Generalizing Spatial Relations to New Objects","authors":"Oier Mees, Nichola Abdo, Mladen Mazuran, Wolfram Burgard","year":"2017","venue":"IEEE/RSJ International Conference on Intelligent Robots and Systems","doi":null,"url":null,"internal_url":null},{"position":9,"raw":"[Paul et al., 2016] Rohan Paul, Jacob Arkin, Nicholas Roy, and Thomas Howard. Efficient Grounding of Abstract Spatial Concepts for Natural Language Interaction with Robot Manipulators. In Robotics: Science and Systems, Ann Arbor, USA, June 18-22, 2016.","title":"Efficient Grounding of Abstract Spatial Concepts for Natural Language Interaction with Robot Manipulators","authors":"Rohan Paul, Jacob Arkin, Nicholas Roy, Thomas Howard","year":"2016","venue":"Robotics: Science and Systems","doi":null,"url":null,"internal_url":null},{"position":10,"raw":"[Pronobis and Rao, 2017] Andrzej Pronobis and Rajesh Rao. Learning Deep Generative Spatial Models for Mobile Robots. In RSS Workshop on Spatial-Semantic Represen- tations in Robotics, Cambridge, USA, July 16, 2017.","title":"Andrzej Pronobis and Rajesh Rao","authors":"Rao Pronobis","year":"2017","venue":"RSS Workshop on Spatial-Semantic Representations in Robotics","doi":null,"url":null,"internal_url":null},{"position":11,"raw":"[Rusu, 2010] Radu Bogdan Rusu. Semantic 3D Object Maps for Everyday Manipulation in Human Living Environ- ments. KI -Kunstliche Intelligenz, 24(4):345-348, 2010.","title":"Semantic 3D Object Maps for Everyday Manipulation in Human Living Environments","authors":"Bogdan Radu, Rusu","year":"2010","venue":"KI -Kunstliche Intelligenz","doi":null,"url":null,"internal_url":null},{"position":12,"raw":"[Shridhar and Hsu, 2017] Mohit Shridhar and David Hsu. Grounding Spatio-Semantic Referring Expressions for Human-Robot Interaction. In RSS Workshop on Spatial- Semantic Representations in Robotics, July 2017.","title":"Grounding Spatio-Semantic Referring Expressions for Human-Robot Interaction","authors":"Mohit Shridhar, David Hsu","year":"2017","venue":"RSS Workshop on Spatial-Semantic Representations in Robotics","doi":null,"url":null,"internal_url":null},{"position":13,"raw":"[Sridharan and Meadows, 2017] Mohan Sridharan and Ben Meadows. A Combined Architecture for Discovering Af- fordances, Causal Laws, and Executability Conditions. In International Conference on Advances in Cognitive Sys- tems, May 2017.","title":"A Combined Architecture for Discovering Affordances, Causal Laws, and Executability Conditions","authors":"Mohan Sridharan, Ben Meadows","year":"2017","venue":"International Conference on Advances in Cognitive Systems","doi":null,"url":null,"internal_url":null},{"position":14,"raw":"[Thippur et al., 2015] Akshaya Thippur, Chris Burbridge, Lars Kunze, Marina Alberti, John Folkesson, Patric Jens- felt, and Nick Hawes. A Comparison of Qualitative and Metric Spatial Relation Models for Scene Understanding. In AAAI Conference, pages 1632-1640, 2015.","title":"A Comparison of Qualitative and Metric Spatial Relation Models for Scene Understanding","authors":"Akshaya Thippur, Chris Burbridge, Lars Kunze, Marina Alberti, John Folkesson, Patric Jensfelt, Nick Hawes","year":"2015","venue":"AAAI Conference","doi":null,"url":null,"internal_url":null},{"position":15,"raw":"[Ye and Hua, 2013] Jun Ye and Kien A Hua. Exploiting Depth Camera for 3D Spatial Relationship Interpretation. In ACM Conference on Multimedia Systems, pages 151- 161, 2013.","title":"Exploiting Depth Camera for 3D Spatial Relationship Interpretation","authors":"Hua Ye, Jun Ye, Kien A Hua","year":"2013","venue":"ACM Conference on Multimedia Systems","doi":null,"url":null,"internal_url":null},{"position":16,"raw":"[Zampogiannis et al., 2015] Konstantinos Zampogiannis, Yezhou Yang, Cornelia Ferm, and Yiannis Aloimonos. Learning the Spatial Semantics of Manipulation Actions through Preposition Grounding. In International Confer- ence on Robotics and Automation, pages 1389-1396, May 2015.","title":"Learning the Spatial Semantics of Manipulation Actions through Preposition Grounding","authors":"Konstantinos Zampogiannis, Yezhou Yang, Cornelia Ferm, Yiannis Aloimonos","year":"2015","venue":"International Conference on Robotics and Automation","doi":null,"url":null,"internal_url":null},{"position":17,"raw":"[Ziaeetabar et al., 2017] Fatemeh Ziaeetabar, Eren Erdal Ak- soy, Florentin Wörgötter, and Minija Tamosiunaite. Se- mantic Analysis of Manipulation Actions Using Spatial Relations. In International Conference on Robotics and Automation, pages 4612-4619, 2017.","title":"Semantic Analysis of Manipulation Actions Using Spatial Relations","authors":"Fatemeh Ziaeetabar, Eren Erdal Aksoy, Florentin Wörgötter, Minija Tamosiunaite","year":"2017","venue":"International Conference on Robotics and Automation","doi":null,"url":null,"internal_url":null}],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}